Added the walking interface to the dynamixel slave.

include/bioloid_registers.h

@@ -354,6 +354,8 @@ typedef enum {
 
 #define      GYRO_BASE_ADDRESS       0x017C
 #define      GYRO_MEM_LENGTH         6
+#define      GYRO_EEPROM_ADDRESS     0x0031
+#define      GYRO_EEPROM_LENGTH      2
 #define      GYRO_CALIBRATE          0x01
 #define      GYRO_EN_CAL_INT         0x02
 #define      GYRO_EN_FALL_DET        0x04

src/bioloid_dyn_slave.c

@@ -86,9 +86,12 @@ unsigned char bioloid_on_write(unsigned short int address,unsigned short int len
   // action commands
   if(action_in_range(address,length))
     action_process_write_cmd(address,length,data);
-  // action commands
+  // gyro commands
   if(gyro_in_range(address,length))
     gyro_process_write_cmd(address,length,data);
+  // walk commands
+  if(walking_in_range(address,length))
+    walking_process_write_cmd(address,length,data);
   // write eeprom
   for(i=address,j=0;i<LAST_EEPROM_OFFSET && i<(address+length);i++,j++)
     EE_WriteVariable(i,data[j]);

src/bioloid_gyro.c

@@ -59,7 +59,7 @@ inline void gyro_get_offsets(uint16_t *fb_offset,uint16_t *lr_offset)
 uint8_t gyro_in_range(unsigned short int address, unsigned short int length)
 {
   if(ram_in_window(GYRO_BASE_ADDRESS,GYRO_MEM_LENGTH,address,length) ||
-     ram_in_window(BIOLIOD_GYRO_FB_ADC_CH,BIOLIOD_GYRO_LR_ADC_CH,address,length))
+     ram_in_window(GYRO_EEPROM_ADDRESS,GYRO_EEPROM_LENGTH,address,length))
     return 0x01;
   else
     return 0x00;